# order is:
# Heading
# Position
# Orientation
# Velocity
# AngularVelocity

# Relative Orientation
# Relative Angular Velocity
#----------------

# Heading
-0.006411

# Root(body)
0 0.785321 0
0.999870 0.015669 -0.000000 -0.003759
0.360812 -0.472010 -0.716544
0.170584 -0.134919 0.054781

# body_neck
0.980538 -0.196264 0.000796 0.005100
-0.488159 0.114185 -0.153593

# lHip
0.970717 0.228110 0.018469 -0.073024
-0.752034 3.047629 0.308616

# rHip
0.997128 -0.026388 0.069705 -0.013414
-0.239018 3.817108 -2.473643

# neck_head
0.961561 0.274586 -0.000400 0.001680
-0.471147 0.155120 0.001454

# lKnee
0.792582 -0.609765 -0.000001 0.000004
4.910727 0.001182 0.003181

# rKnee
0.930390 -0.366571 -0.000001 -0.000004
-3.109338 -0.001698 -0.002904

# lAnkle
0.928938 0.369901 -0.005816 -0.014606
-0.027833 0.001416 0.504324

# rAnkle
0.924162 0.380932 -0.010881 -0.026393
1.096980 -0.063773 0.751012

